Motion control system of minimally invasive surgery robot

A robot motion and control system technology, applied in the medical field, can solve problems such as unfavorable learning and popularization, expensive RTOS software, and non-open source source code, so as to reduce the pain of patients.

Inactive Publication Date: 2014-11-12
TIANJIN TELLYES SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Because commercial RTOS software is very expensive and the source code is not open source, it is not conducive to learning and popularization
However, precise real-time motion control of joints is difficult to guarantee without the use of an operating system

Method used

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  • Motion control system of minimally invasive surgery robot
  • Motion control system of minimally invasive surgery robot

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Embodiment Construction

[0014] Below in conjunction with accompanying drawing, the present invention is described in further detail.

[0015] Such as figure 1 As shown, the present invention proposes a minimally invasive surgical robot motion control system. This system selects Maxon's RE30-310007 type DC motor as the joint motor, uses Freescale's MC9S12XDP5 12 high-performance single-chip microcomputer as the core processor of each sub-system, and selects LM629 with superior performance as the motion control algorithm Realize the main processing center. LM629 is a dedicated motion control chip, which is a leader in the field of motion control. It has integrated a 16-bit programmable digital PID controller inside, which is extremely convenient to use. In this way, the single-chip microcomputer can easily control the position and speed of the joint motor. In order to make the joint motor work at the rated power value, it is necessary to select a power driver chip and design the motor driver module ...

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Abstract

The invention provides a motion control system of a minimally invasive surgery robot. The system is mainly composed of a PC module, a Bluetooth receiving and transmitting module, a single chip microcomputer module, a CAN bus module, a motion controller module, an optoelectronic isolation module and a joint motor driving chip module. The motion control system is good in real-time performance high in precision and low in economic cost, cost can be reduced, and besides a doctor can easily perform a surgery more precisely, and high reliability of the surgery is guaranteed. Because a slave hand of the minimally invasive robot is generally composed of multiple joints, if motion of all the joints can not be coordinated effectively, major secondary trauma can be generated for a patient, and even life safety of the patient is threatened. Therefore, meaning of research on the motion control system of the minimally invasive surgery robot is very significant.

Description

technical field [0001] The invention relates to the field of medical technology, in particular to a motion control system of a minimally invasive surgical robot. Background technique [0002] Since the 1980s, minimally invasive surgery (MIS-Minimally Invasive Surgery) technology has been in the ascendant. Using minimally invasive surgical techniques, the surgeon only needs to open two to three small holes with a diameter of about 10mm near the lesion of the patient to perform the operation. A small hole is selected as the entrance of the endoscope for observation during the operation; the other small hole is used for inserting surgical instruments and auxiliary tools. Doctors only need a monitor to clearly see the movement status of surgical tools inserted into the patient's body, thereby assisting doctors in surgical operations. This new surgical method has significant advantages: less pain for patients; greatly shorten the recovery time after surgery, reduce the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/19
Inventor 李称鑫刘雁飞严小天
Owner TIANJIN TELLYES SCI
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